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commander: put circuit breaker into effect

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Lorenz Meier
2014-05-25 20:34:32 +02:00
parent 032fe389a5
commit 064329dd09
2 changed files with 25 additions and 14 deletions
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src/modules/commander/commander.cpp
+7
View File
@@ -52,6 +52,7 @@
#include <fcntl.h>
#include <errno.h>
#include <systemlib/err.h>
#include <systemlib/circuit_breaker.h>
#include <debug.h>
#include <sys/prctl.h>
#include <sys/stat.h>
@@ -721,6 +722,9 @@ int commander_thread_main(int argc, char *argv[])
status.condition_power_input_valid = true;
status.avionics_power_rail_voltage = -1.0f;
// CIRCUIT BREAKERS
status.circuit_breaker_engaged_power_check = false;
/* publish initial state */
status_pub = orb_advertise(ORB_ID(vehicle_status), &status);
@@ -907,6 +911,9 @@ int commander_thread_main(int argc, char *argv[])
/* check and update system / component ID */
param_get(_param_system_id, &(status.system_id));
param_get(_param_component_id, &(status.component_id));
status.circuit_breaker_engaged_power_check = circuit_breaker_enabled("CBRK_SUPPLY_CHK", CBRK_SUPPLY_CHK_KEY);
status_changed = true;
/* re-check RC calibration */
src/modules/commander/state_machine_helper.cpp
+18 -14
View File
@@ -144,26 +144,30 @@ arming_state_transition(struct vehicle_status_s *status, /// current
valid_transition = false;
}
// Fail transition if power is not good
if (!status->condition_power_input_valid) {
// Perform power checks only if circuit breaker is not
// engaged for these checks
if (!status->circuit_breaker_engaged_power_check) {
// Fail transition if power is not good
if (!status->condition_power_input_valid) {
if (mavlink_fd) {
mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Connect power module.");
if (mavlink_fd) {
mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Connect power module.");
}
valid_transition = false;
}
valid_transition = false;
}
// Fail transition if power levels on the avionics rail
// are insufficient
if ((status->avionics_power_rail_voltage > 0.0f) &&
(status->avionics_power_rail_voltage < 4.5f)) {
// Fail transition if power levels on the avionics rail
// are insufficient
if ((status->avionics_power_rail_voltage > 0.0f) &&
(status->avionics_power_rail_voltage < 4.5f)) {
if (mavlink_fd) {
mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Avionics power low: %6.2f V.", status->avionics_power_rail_voltage);
}
if (mavlink_fd) {
mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Avionics power low: %6.2f V.", status->avionics_power_rail_voltage);
valid_transition = false;
}
valid_transition = false;
}
} else if (new_arming_state == ARMING_STATE_STANDBY && status->arming_state == ARMING_STATE_ARMED_ERROR) {